 	  (for [y (range height)]
 	    (apply str
 	      (for [x (range width)]
-		  (cond (= [x y] pos)             "O"
-			(= [x y] [goal-x goal-y]) "G"
-			(border-fn [x y])         "X"
-			(nil? (border-fn [x y]))  "@"
+		  (cond (= [x y] pos)                "O"
+			(= [x y] [goal-x goal-y])    "G"
+			(= (map-fn [x y]) :border)   "X"
+			(= (map-fn [x y]) :occupied) "@"
 			:else                     ".")))))))))
     
 (comment 





(let [f (util/path-local "nav_2d.pddl")]
  (defn make-nav-2d-strips-domain []
    (strips/read-strips-planning-domain f)))

 
(defn make-nav-2d-strips-env 
  "map-fn takes [x y] pair, returns :free, :border, or :occupied"
  [map-fn [width height] [init-x init-y] [goal-x goal-y]]
  (util/assert-is (= :free (map-fn [init-x init-y])))
  (util/assert-is (= :free (map-fn [goal-x goal-y])))
  (strips/make-strips-planning-instance 
   "nav-2d"
   (make-nav-2d-strips-domain)
